备份备份

BaseModules/Hd_CameraModule_3DKeyence/Hd_CameraModule_3DKeyence.cpp

@@ -259,7 +259,7 @@ bool Hd_CameraModule_3DKeyence::readData(std::vector<cv::Mat> &mats,QByteArray &
     }
     cv::Mat mheightMat2 = cv::Mat();
     heightMatS.dequeue().copyTo(mheightMat2);
-    cv::Mat mluminanceMat2 = cv::Mat();
+    cv::Mat mluminanceMat2;
     luminanceMatS.dequeue().copyTo(mluminanceMat2);
     mats.push_back(mheightMat2.clone());
     mats.push_back(mluminanceMat2.clone());
@@ -317,7 +317,7 @@ bool Hd_CameraModule_3DKeyence::initParas(QByteArray& initData)
 {
     QByteArrayList valueList = initData.split('+');
     camera_name = valueList[0];
-    deviceId = valueList[0].toInt();  //相机头序号
+    //deviceId = valueList[0].toInt();  //相机头序号
     if (valueList.size() > 1)
         for (int i = 1; i < valueList.size(); i++)
         {
@@ -351,6 +351,14 @@ bool Hd_CameraModule_3DKeyence::initParas(QByteArray& initData)
                     }
                 }
             }
+            if (valuei.contains("deviceId"))
+            {
+                QStringList valueL = valuei.split('#');
+                if (valueL.size() == 2)
+                {
+                    deviceId = valueL[1].toInt();
+                }
+            }
             if (valuei.contains("port"))
             {
                 //port#24691
@@ -387,7 +395,7 @@ bool Hd_CameraModule_3DKeyence::initParas(QByteArray& initData)
                     y_pitch_um = valueL[1].toDouble();
                 }
             }
-            if (valuei.contains("取图超时"))
+            if (valuei.contains("timeout"))
             {
                 //timeout_ms#2900
                 QStringList valueL = valuei.split('#');
@@ -632,12 +640,12 @@ bool Hd_CameraModule_3DKeyence::run()
             memcpy(heightImage, dwHeightBuf, xDataNum * yImageSize * 2);
 
             qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Height Img memcpy Finished: ";
+            std::vector<unsigned short>poits(xDataNum* yImageSize * 2,0);
             if (_getParam[deviceId].luminance_enabled > 0)
             {
                 unsigned short* dwLuminanceBuf = (unsigned short*)&_luminanceBuf[deviceId][0];
                 memcpy(luminanceImage, dwLuminanceBuf, xDataNum * yImageSize * 2);
             }
-
             // Free memory
             if (_heightBuf[deviceId] != NULL)
             {
@@ -653,9 +661,23 @@ bool Hd_CameraModule_3DKeyence::run()
             qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Free memory Finished: ";
 
             m_mutex->lock();
-            //vector_mat.clear();
-            luminanceMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, luminanceImage));
-            heightMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, heightImage));
+            //std::vector<unsigned short> points(yImageSize* xImageSize,0);
+            //memcpy(points.data(), luminanceImage, yImageSize* xImageSize);
+            //std::vector<unsigned short> pointsTmp;
+            //for (int i = 0; i < points.size() / 2; i++)//X处理
+            //    pointsTmp.push_back(points[i*2]);
+            //points.clear();
+            //for (int i = 0; i < yImageSize / 2; i++)//Y处理
+            //    for (int i2 = 0; i2 < xImageSize; i2++)//Y处理
+            //        points.push_back(pointsTmp[i * 2 * xImageSize + i2]);
+            //for (auto& data : points)data /=4;
+            //cv::Mat Lmat(yImageSize / 2, xImageSize / 2, CV_8UC1, points.data());
+            cv::Mat luminanceMat(yImageSize, xImageSize, CV_16UC1, luminanceImage);
+            cv::normalize(luminanceMat, luminanceMat, 0, 255, cv::NORM_MINMAX);
+            cv::convertScaleAbs(luminanceMat, luminanceMat);
+            luminanceMatS.enqueue(luminanceMat);
+            
+            heightMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16UC1, heightImage));
             m_mutex->unlock();
             qDebug() << __FUNCTION__ << " line:" << __LINE__ << " success to acquire 3d image! camera_name: " << camera_name;
             //Start HighSpeed